Knowledge representations for high-level and low-level planning

Figure 1: A humanoid robot is shown in a kitchen perform-ing several tasks. (top) With a multi-fingered hand, a glass can be grasped in different ways. (bottom) Two robot place-ments are shown for grasping the plate on the table. Problem statement In general a service task like setting the table can be fur-ther resolved into several subtasks. When objects have to be grasped, choosing grasps and approach directions are problems that have to be solved. In Figure 1 two service tasks and their challenges are illustrated. Objects have to be moved from one location to another. A number possibilities for grasping a glass are shown in Figure 1 (top). The robot has to decide where to place itself to be able to reach an ob-ject. The number of robot placements is infinite (Figure 1 (bottom)). These issues have to be taken into account by